A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

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dc.authoridSarigecili, Mehmet Ilteris/0000-0002-9969-2005
dc.authoridDagdelen, Mustafa/0000-0002-1448-104X
dc.authoridOZBEK, Necdet Sinan/0000-0002-7184-9015
dc.contributor.authorDagdelen, Mustafa
dc.contributor.authorSarigecili, Mehmet Ilteris
dc.contributor.authorOzbek, Necdet Sinan
dc.date.accessioned2025-01-06T17:38:05Z
dc.date.available2025-01-06T17:38:05Z
dc.date.issued2024
dc.description.abstractIn this study, an intelligent adaptive interaction torque control for a pneumatically actuated forearm rehabilitation robot has been proposed. The main objective is to provide a haptic environment that ensures stable interaction torque fields at changing levels. To achieve this goal, a cascade fuzzy adaptive controller, that is specifically tailored to handle varying levels of interaction torque and ensure stability throughout the rehabilitation process, has been designed. To improve the efficiency of the controller, non-linear friction torque identification of the pneumatic actuator based on changing operating conditions has been conducted. Parallel to this, a user motion intention detection algorithm has been designed to provide compliant, safe and suitable human-robot interactions. The disturbance cases have been considered to make the system robust to unknown conditions. Stability analysis has been performed, specifically focusing on the boundary-input boundary-output (BIBO) stability conditions. In order to demonstrate the superior performance of the proposed cascade fuzzy adaptive algorithm, a cascade PID algorithm has also been meticulously designed for comparison. Numerous experimental validation tests involving a healthy user were conducted in a Hardware-in-the-Loop environment, focusing on torque trajectory tracking performance. The proposed control technique exhibited improved convergence dynamics compared to the cascade PID algorithm, yielding mean absolute error levels of 0.0218 Nm and 0.099 Nm for target interaction torque under disturbance-free and disturbed conditions, respectively.
dc.description.sponsorshipScientific Research Project unit of CUKUROVA University [FBA-2022-14180]
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study was financially supported by the Scientific Research Project unit of CUKUROVA University under the FBA-2022-14180 project number.
dc.identifier.doi10.1177/09544062231210081
dc.identifier.endpage4701
dc.identifier.issn0954-4062
dc.identifier.issn2041-2983
dc.identifier.issue10
dc.identifier.scopus2-s2.0-85180423777
dc.identifier.scopusqualityQ2
dc.identifier.startpage4679
dc.identifier.urihttps://doi.org/10.1177/09544062231210081
dc.identifier.urihttps://hdl.handle.net/20.500.14669/2468
dc.identifier.volume238
dc.identifier.wosWOS:001129086100001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSage Publications Ltd
dc.relation.ispartofProceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectFuzzy adaptive
dc.subjectcascade control
dc.subjectPID
dc.subjectrehabilitation
dc.subjecthuman-robot interaction
dc.subjectpneumatics
dc.subjecthardware-in-the-loop
dc.titleA cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects
dc.typeArticle

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